JPH1039931A - Attaching/detaching device for article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically, surely and precisely attach or detach an article without damaging it by sandwiching a rail by compression by a pair of pressing members in the stopped state of an article attaching/detaching mechanism at the time of attaching and detaching the article. SOLUTION: A lamp M for which a pair of circular openings are formed with a prescribed interval is attached by inserting insertion pins 60a and 60b erected with the same interval to the circular openings by using a lamp attaching/detaching device 1. Also, in the case of detaching it, a pair of engaging pins of the lamp attaching/detaching device 1 are engaged with the engaging holes 66 and 67 of the lamp M, moved upwards and pulled out from the insertion pins 60a and 60b. The lamp attaching/detaching device 1 is suspended by a first rail 2 and moved. Then, at the time of attaching and detaching the lamp M, cylinder pistons 100a, 100b, 101a and 101b provided on both sides of the vertical wall part 2a of the first rail 2 are operated, the vertical wall part 2a is sandwiched by the compression by rods R and deviation in a horizontal direction is prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article attaching / detaching apparatus.

[0002]

2. Description of the Related Art For example, of a large number of lamps mounted diagonally on the side wall of a tube at equal intervals, a failed lamp or a defective lamp is manually replaced with a new lamp. However, such places are too small to work freely and the environment is not very good. Therefore, it has been studied to automatically perform a replacement operation by a robot. In this case, a pair of circular openings are formed at predetermined intervals,
A lamp having engagement holes formed on both side walls is attached by inserting insertion pins, which are provided upright at predetermined mounting positions at the same intervals as the predetermined intervals, through the circular openings, and the article is attached. When detaching from the mounting position, a pair of engaging pins of the article attaching / detaching mechanism are engaged with the engaging holes, and the engaging pins are moved upward so that the article is pulled out from the insertion pins. A detachable device for detached articles is conceivable. However, this alone cannot be automated. For example, it is not possible to perform positioning for mounting the lamp correctly.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is possible to replace an obliquely mounted lamp automatically even in the above-mentioned place, and it is possible to replace an article which does not require any manual operation. It is an object to provide a detachable device.

[0004]

The object of the present invention is to provide an article in which a pair of circular openings are formed at a predetermined interval and engagement holes are formed in both side walls, and the article is mounted at a predetermined mounting position at the predetermined mounting position. Attachment pins, which are erected at the same intervals as the intervals, are attached by being inserted into the circular openings, and when the article is to be removed from the attachment position, a pair of engagement pins of the article attachment / detachment mechanism are connected to the engagement holes. And the article is removed from the insertion pin by moving the engaging pin upward, and the article attaching / detaching mechanism is suspended by a rail and is movable along the rail. In the attaching / detaching device, the article attaching / detaching mechanism is provided with a pair of pressing members movable in a direction approaching and moving away from each other so as to squeeze the rail from both sides, and the article attaching / detaching is performed when attaching or detaching the article. Mechanism stop In by the pair of pressing members, attachment apparatus of the articles, characterized in that the said rail so pressed between, is solved by.

Alternatively, a pair of mounting members formed on the article is engaged with a pair of mounting members provided at predetermined positions,
By attaching the article, disengaging the pair of attachment members from the attached portion, the article is detached from the predetermined position, suspended on a rail, and movable along the rail. And a first and a second light emitting element attached to a pair of U-shaped sensor mounting members and one horizontal arm of the sensor mounting members at a predetermined distance in a first direction. A first and a second light receiving element attached to the other horizontal arm portion facing the first and second light emitting elements, and an engagement member attached to the vertical arm portion of the sensor attachment member, respectively. A T-shaped light-shielding plate attached to each of the pair of attachment members, a support shaft rotatably supporting the engagement member, and a pivot for rotating the engagement member around the support shaft. 1 drive unit and a second direction intersecting the first direction And a second drive unit for moving the engagement member. The first drive unit controls the engagement member so that a light beam from the first light emitting element is shielded by the light shielding plate. Then, the engaging member is moved by the second driving unit so that the light from the second light emitting element is shielded by the light shielding plate.
In which the rail is squeezed from both sides by a pair of pressing members at the time of the positioning. You.

Alternatively, a pair of mounting portions formed on the article is engaged with a pair of mounting members provided at predetermined positions,
By attaching the article, disengaging the pair of attachment members from the attached portion, the article is detached from the predetermined position, suspended on a rail, and movable along the rail. In the article attaching / detaching device, a T-shaped shielding plate is fixed to the pair of mounting members, and the first and second detection elements and the first and second detection elements are respectively formed on a pair of U-shaped upper and lower horizontal arms. A detection member to which the second element to be detected is fixed;
A detection / engagement device having engagement means fixed to a vertical arm portion of the detection member; a first drive device for rotating the detection / engagement device around a predetermined support shaft; A second drive device for driving the engagement device in a direction approaching and moving away from the device, and the detection / engagement device for engaging and disengaging the attachment member and the attached portion of the article. An article transfer device including a third drive device to be driven is provided, and when removing an old article at the predetermined position, the pair of detection / engagement devices are far apart by the second drive device. Located at a first position, and by the first driving device,
When the detection / engaging device is rotated around the support shaft and the first detection element is shielded from the first element to be detected by the outer horizontal arm portion of the shield plate, the first drive is performed. The device is stopped, and then the engagement means of the detection / engagement device is moved by the third drive device to a position facing the engaged portion of the article, and then both the second detection elements are The second driving device is driven so as to be shielded from the second element to be detected by the projecting arm portion of the shielding plate, and the engaging means is positioned at the predetermined position. The two driving devices simultaneously drive the engaging means in mutually approaching directions to engage the engaged portions of the article, and then drive the third driving device to drive the pair of attached portions of the article and the The engagement with the pair of mounting members is released, and the first drive When the detection / engagement device is rotated by a predetermined angle around the support shaft by driving the device, the article is disengaged, and when attaching a new article to the predetermined position, the engagement means is provided. The first drive device rotates the detection / engagement device around the support shaft by engaging the engaged portion of the article.
When the detection element is shielded from the first element to be detected facing by the inner horizontal arm portion of the shielding plate, the first driving device is stopped, and then both the second detection elements are moved by the second driving device. The detecting / engaging device is driven to position the new article at the predetermined position so as to be shielded from the second element to be detected by the projecting arm portion of the shielding plate, and then the A third drive unit engages the mounted portion of the article with the pair of mounting members,
Next, the engaging means is simultaneously driven by the second driving device in a direction away from each other to disengage from the engaged portion of the article, and then the engaging device is driven by the first driving device to support the engaging means. By rotating the article about a shaft by a predetermined angle, the attachment of the article is completed, and at the time of removal and attachment of the article, the rail is pressed from both sides by a pair of pressing members. And a device for attaching and detaching an article.

[0007] With the above structure, no matter what posture the article is attached to at a predetermined position, the article attached here can be automatically and reliably taken out. Articles can be automatically and accurately attached to this attachment position.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the whole article of this embodiment, that is, the whole of the attaching / detaching apparatus of the lamp M, which is indicated by 1 as a whole, and FIG. FIG. As will be described later, a driving vehicle 4, a first exchange vehicle 5 and a second exchange vehicle 6 are suspended from the first rail 2 and the second rail 3 extending linearly in the drawing. They are connected by 7, 8. As shown in FIG. 2, the present embodiment is used for attaching and detaching the lamps M attached to the duct at predetermined intervals. The first rail 2 and the second rail 3 are fixed to a cross member 10 attached to the vertical support 9 at a right angle.

[0010] As clearly shown in FIG.
Holds a lamp M and does not hold the second replacement vehicle 6, but shows a state where the lamp M is removed from a predetermined position and held by an old lamp M, and the second replacement vehicle 6 This shows a state after a new lamp M has been mounted at a predetermined mounting position, and shows a state in which the driving vehicle 4 is traveling in the direction of arrow B for further replacement of the next lamp.

As clearly shown in FIG. 3, a lamp mounting frame 11 is fixed diagonally to the vertical support 9, to which a power supply device 12 is fixed, and to which a lamp M is mounted by a method described later. ing. As is clearly shown in FIG. 4, a pair of micro switches 13a and 13b are attached to the first exchange vehicle 5 (the second exchange vehicle 6 has the same configuration, and only the second exchange vehicle 6 will be described below). The upper wall of the first rail 2 has a trapezoidal cam plate 1.
4 and 15 are fixed in such a manner that most of them are overlapped in the vertical direction of the traveling direction B of the first exchange vehicle 5, and the actuators 13aa and 13ba of the micro switches 13 a and 13 b are turned on / off by the cam plates 14 and 15. Turned off.

In the present embodiment, the operator 13ba of the micro switch 13b, which is located forward in the traveling direction, rides on the slope 15a of the one cam plate 15, and when turned on, the motor of the drive vehicle 4 is driven at a low speed. The operation is switched to low-speed or low-speed running, and the actuator 13aa of the rear microswitch 13a is set to the slope 14 of the other cam 14 plate.
a, when the vehicle is turned on, a stop command is issued and the driving vehicle 4
To stop. As a result, the first replacement vehicle 5 is stopped at a position facing the mounting position of the lamp M.
The first exchange vehicle 5 has a roller 16 on the first rail 2.
The second rail 3 has an L-shaped cross section as shown in FIG. 3, and a pair of rollers 17 Along this second rail 3, it is suspended so as to run freely. That is, as shown in FIG. 3, the center of gravity of the first replacement vehicle 5 is biased rightward in the figure due to the second rails 3 and the rollers 17, but the entirety of the first replacement vehicle 5 is biased by the rotation moment. Work to prevent.

Next, the internal structure of the first exchange vehicle 5 will be described in detail. Note that the second exchange vehicle 6 has the same configuration.

3 to 5, a frame 20 having a substantially triangular side surface includes a pair of right and left side plates 21a and 21b and an upper wall plate 22 fixed to the upper wall portion. Built-in. Suspended members 23a, 23b are attached to the side plates 21a, 21b, and the above-mentioned roller 16 is rotatably supported on the upper end thereof. As shown in FIGS. 3 and 4, this is rotatable in a state of being pressed against the first rail 2. Further, the side plates 21a, 21b
As shown in FIGS. 3 and 5, a pair of oblique arm members 24a and 24b are fixed at the front and rear, which extend obliquely upward as shown in FIG. ,
A pair of rollers 1 rotatable on the second rail 3 at its upper end.
7, 17 are supported.

Next, each member incorporated in the frame 20 will be described. First, a drive mechanism for rotating the lamp M when the lamp M is mounted or replaced in the frame 20 will be described. The pivoting plates 25a and 25b mainly involved in this take on a polygonal shape as clearly shown in FIGS.
And both ends thereof are bearings 26a, 26
It is rotatably supported by b. This one bearing 2
A first motor 28 is fixed to a side plate 21b on the shaft end side projecting further outward from the shaft 6b. A gear 29 attached to the shaft end of the rotating shaft is attached to the shaft end of the rotating shaft 27 described above. It is connected to the fixed gear 30 via a chain 31. That is, the gears 29, 30,
The rotating plates 25a and 25b are connected to the rotating shaft 2 via the chain 31.
7 is rotatable around the axis. Rotating plate 25
Although a and 25b are integrated at the upper end by a rotating shaft 27, they are also integrated by a connecting plate 32 to further reinforce them.

The mechanism for rotating the lamp M has been described above. Next, a mechanism for vertically moving the lamp M with respect to the lamp mounting position when the lamp M is mounted or removed will be described.

Also in the frame 20, a second motor 33 is mounted on the connecting plate 32 at the center thereof as shown in FIG. , 25b, the gear 3 attached to the shaft end of the motor 33.
A screw rod 38 is fixed to the driven gear 35 that meshes with the screw 4. The screw rod 38 is screwed to a screw member 42 fixed to a screw engaging arm 41 of a movable frame 39. The lower end thereof is loosely fitted in the round hole 40a of the horizontal arm 40 of the movable frame 39. The entire movable frame 39 is shown in FIG.
, But is formed as a pair of left and right,
In FIG. 4, the lower horizontal arm portion 40 is provided on both sides of the rotating plate 2.
Outer arms 43a and 43b are fixed at right angles to both ends, and inner arms 44a and 44b are fixed inside. Guide rods 45a and 45b are fixed between the outer arm portions 43a and 43b and the inner arm portions 44a and 44b, and feed screws 46a and 46b are provided below the guide rods 45a and 46b.
a, 43b and 44a, 44b rotatably supported.

Inner arm 44 of feed screws 46a and 46b
Gears 47a, 47b are fixed to the shaft ends protruding from the a, 44b. As shown in FIG. 10, the gears 47a, 47b are a pair of left and right third fixed to the rotating plates 25a, 25b. The gears mesh with gears 48a, 48b fixed to the shaft ends of the rotating shafts of the motors 49a, 49b. Pin mounting engagement plate 5
Oa and 50b are screwed to the screw rods 46a and 46b. Further, engaging pins 51a, 51a, 51a as shown in FIG.
b and 51b are fixed by protruding in the lateral direction. Further, guide members 51a and 51b are fixed to the outer wall portions of the outer arm portions 43a and 43b of the movable frame 39, which are also related to the linear guide rails 52a and 52b as clearly shown in FIG. I agree. This is also clearly shown in FIGS. 8 and 9, whereby the driving mechanism for moving the lamp M up and down is configured to guide the rotating plates 25 a and 25 b accurately in a predetermined direction so as to move up and down. ing.

As shown in FIGS. 6 and 7, U-shaped sensor mounting members 53a, 53b are fixed to the ends of the pin mounting engaging plates 50a, 50b. Have a pair of light emitting elements 54a,
4b (lamp) and phototransistors 55a and 55b as light receiving elements opposed thereto are fixed.

Next, a structure for mounting the lamp M at a predetermined position will be described with reference to FIGS. 5 and 11, and the lamp M as an article in the present embodiment will be described.
Has a light-emitting source built in its main body 62 and has a plug 6 inserted through a power supply port 12a of a power supply device 12 on its lower wall.
3 are formed, and projecting plate portions 64 are provided on both side walls.
a, 64b are formed, and the circular opening 6
5a and 65b are formed. 3, a circular opening 66 and a track-shaped opening 67 are formed in the side walls of the protruding plate portions 64a and 64b of the lamp M. These diameters and widths are determined by the engagement pins 51a, 51b.
Of a large diameter.

Further, on both sides of the upper surface of the power supply device 12,
The mounting pins 60a and 60b are fixed upright, and include a base D, a large diameter portion E, a medium diameter portion F, a tapered portion G, and a small diameter portion H at the most distal end. Light shielding plates 61a and 61b having a T-shaped planar shape are fixed. The middle diameter portion F of the mounting pins 60a, 60b is formed in a circular opening 65 formed in the protruding plate portions 64a, 64b of the lamp M.
a, 65b. Further, as shown in FIG. 11, the engaging pins 51a and 51b fixed to the pin mounting engaging plates 50a and 50b so as to protrude in the lateral direction are provided with a large-diameter portion J, a tapered portion K, and a leading-edge small diameter from the base side. The large diameter portion J has a circular opening 6 formed in the side wall portions of the protruding plate portions 64a and 64b of the lamp M.
6 and the size closely fits the diameter and width of the track-shaped opening 67.

As particularly clearly shown in FIGS. 3 and 4, on both sides of the vertical wall portion 2a of the first rail 2, cylinder pistons 100a and 100b, and a similar structure before and after along the rail 2 are provided. Cylinder piston 101a,
The first and second exchange vehicles 5 and 6 are provided with cam plates 14 and 15 and a micro switch 13.
The cylinder pistons 100a, 13a are stopped at predetermined positions by the functions of a, 13b.
100b, 101a, and 101b are supplied with compressed air from a compressed air source (not shown) to cause their piston rods R to project toward the vertical wall portions 2a of the rails 2. Of the vertical arm 2a. Accordingly, the driving vehicle 4 has a built-in motor, and when this driving is stopped, the motor brake is applied, and the brake is applied in the extending direction of the rail 2 and stops at that position. The lamp attachment / detachment mechanism 20 incorporates various members in addition to the first, second, and third motors, and the center of gravity is deviated rightward in FIG. As a result, the lamp attaching / detaching mechanism 20 receives the rotational moment and turns around the rollers 16 and 17 as a fulcrum. Since the horizontal arm portion of the second rail 3 is squeezed by the roller 17, a slight rotation is prevented, but this is still insufficient, so the cylinder pistons 100a, 100b
By rotating the vertical arm 2a of the first rail 2 with the piston rods R of the first and second rails 101a and 101b, the rotation is completely prevented.

The configuration of the lamp attaching / detaching apparatus 1 according to the embodiment of the present invention has been described above. Next, this operation will be described.

As described above, the first and second exchange vehicles 5,
6 is loaded with a new lamp M to reach the lamp mounting position, while the other is empty and returns to the base with the replaced lamp. As is evident in FIGS. 1 and 2, now,
The first and second rails 2 are driven by the driving vehicle 4 in the direction of arrow B.
The driving vehicle 4 pulls the first and second exchange vehicles 5 and 6 along the rail 3 to reach the mounting position. As shown in FIG. 4, the roller 16 rolls along the rail 2. , Micro switches 13a, 13b fixed to the first exchange vehicle 5
Of the actuators 13aa and 13ba, the actuator 13ba of the microswitch 13b that precedes the traveling direction is
First, it is turned on by riding on the slope 15aa of one cam plate 15. After that, the vehicle travels at low speed and the cam plate 15
Of the cam plate 15 and the other inclined surface 15
a 'is turned off when it reaches a'. Immediately before turning off, the operator 13a of the following microswitch 13a is turned off.
a rides on the slope 14a of the other cam plate 14 and turns on. When both of the micro switches 13a and 13b are turned on, a drive stop command is issued to the motor mounted on the drive vehicle 4, and the first replacement vehicle 4 is accurately positioned and stopped immediately before the lamp to be replaced. .

The motor is provided with a gear brake, and when a motor drive stop command is issued, the brake is actuated to restrict the movement of the roller 16 along the rail 2 in the rolling direction. According to this, the cylinder pistons 100a, 100b, 101a, 101 provided on both sides of the vertical wall 2a of the first rail 2 are further provided.
b is activated. 3 and 5 show a state before the operation. The vertical wall 2a is the cylinder piston 100
The lateral displacement in FIG. 3 can be prevented by the pinching force of the rod R connected to the pistons a, 100b, 101a, and 101b.

FIG. 3 shows a situation in which the lamp M to be replaced is mounted in this stop position and has been removed from the power supply 12 by the first replacement vehicle 5. In FIG. 4, the first drive motor 2
8 is driven. Gear 29, chain 31, other gear 30
As a result, the rotating shaft 27 is supported by the bearings 26a and 26b, around which the rotating plates 25a and 25b rotate by a predetermined angle. Pin mounting engagement plate 5 also fixed to this
0a, 50b and the sensor mounting members 53a, 53b also rotate by the same angle. FIG. 11 shows a position immediately before the rotation, and FIG. 13 is a view of each member of FIG. 11 as viewed from above. The solid line indicates the state before the rotation, and the dashed line indicates the state immediately after the rotation.

The pin mounting engagement plates 50a, 50b to which the sensor mounting members 53a, 53b are mounted rotate along the arrow R 'as shown in FIG. That is, the lamp M that rotates around the axis of the rotation shaft 27 and is to be replaced in FIG. 11 for easy understanding of the drawing is shown by a dashed line, but as shown in FIG. When rotated, it takes the position shown by the dashed line. The gear 3 is moved from this position to the position shown by the solid line by driving the second electric motor 33 shown in FIG.
The screw member 42 screwed to the screw rod 38 by the engagement of the members 4 and 35 moves downward together with the movable frame 39 in FIG. When moving down, the guide members 51a and 51b are guided by the guide rails 52a and 52b, and move down accurately and linearly. Note that the downward movement distance may be such that a pulse proportional to the rotation speed of the second electric motor 33 is counted from the downward movement start point and stopped when a predetermined value is reached. The second motor 33 may be stopped. That is, the pin mounting engagement plates 50a and 50b move downward in FIG. 12, but before this, as shown in FIG.
The first lamp 54a attached to the upper horizontal arm of 53b is shielded from the light beam to the lower phototransistor 54b by the outer horizontal arm n of the light-shielding plates 61a and 61b. It detects that it has turned. Note that the first motor 2
8 may be stopped. After this detection, as described above, the second drive unit 33 moves down by a predetermined distance by driving the second motor 33, and this position is shown by a solid line in FIG. 12 and by a dashed line in FIG.

From this position, the third drive, ie,
By driving the third motors 49a, 49b shown in FIG. 10, and also by the gears 48a, 48b and 47a,
The threaded rods 46a and 46b are rotated by the engagement of 7b. As a result, the pin mounting engagement plate 5 screwed into this
The guide rods 0a and 50b are guided by the guide rods 45a and 45b, and move in directions close to each other in FIG. As a result, it stops at the position indicated by the solid line in FIG. 14, but at this time, the second lamps 54b, 54b
The light is shielded by the vertically protruding arm portions p of a and 61b, thereby detecting that it has moved a predetermined distance, and the drive of the third motors 49a and 49b is stopped by this detection.
At this time, as clearly shown in FIG.
The small diameter portions L of a and 51b are inserted into the holes 66 and 67 as shown in FIG. In this state, the pin mounting engagement plates 50a and 50b are moved upward by a predetermined distance (a predetermined number of pulses in the same manner as described above) by driving the second motor 33 again.

The small-diameter portions L of the engaging pins 51a, 51b were initially inserted into the holes 66, 67 with a certain clearance, but moved inside the holes 66, 67, and When the lamp M comes into contact with the wall, the lamp M is moved upward thereafter. As a result, the middle diameter portions F of the mounting pins 60a, 60b closely fitted to the circular openings 65a, 65b of the projecting plate portions 64a, 64b on both sides of the lamp M are slightly extracted, and at this time, the pin mounting engagement plates 50a, Even if the center 50b is not accurately centered with respect to the mounting pins 60a and 60b, the tapered portion K is formed continuously with the small diameter portion L of the engagement pins 51a and 51b, and the small diameter portion L and the hole 66 are formed.
And 67, there is a clearance, so that it is possible to move left and right in the figure between this portion and the small diameter portion L.
Therefore, the middle diameter portion F of the mounting pins 60a and 60b is
When pulling out of 5a, 65b, it is pulled out without self-aligning without applying excessive force, so to speak,
The lamp M is pulled out without excessive force.
Thereafter, as clearly shown in FIG.
By the driving of 9b, the pin mounting engagement plates 50a, 50b screwed to the screw rods 46a, 46b move in a direction closer to each other. Therefore, the engagement pins 51a and 51b fit tightly into the holes 66 and 67 as shown by solid lines in FIG. It should be noted that the proximity switch is not shown when the motors 49a and 49b are stopped, and the proximity switches are operated by the holes 66 of the protruding plate portions 64a and 64b of the lamp M.
67 is provided near the pin mounting engagement plate 50.
When it is detected that a and 50b have come close to each other, the drive of the motors 49a and 49b is stopped by this detection signal. Thereafter, the pin 33 is further raised by driving the motor 33. Therefore, the lamp M is completely pulled out from the mounting pins 60a and 60b,
The first motor 28 is driven to rotate in the direction opposite to the direction of R ′ shown in FIG. At this time, the lamp M to be replaced is held (not shown in FIG. 11). In this state, the replaced lamp M is loaded at a predetermined position in the first exchange vehicle 5 shown in FIGS.

In the above description, the removal of the old lamp has been described with particular reference to FIGS.
The following is a further expanded description with reference to still other figures.

That is, as described above, FIG. 11 and FIG.
2 shows a situation in which an old lamp M is attached to the power supply device 12, and FIGS. 5 and 17 also show the lamp M in the plan view and the front view, respectively. FIG. In such a situation, as described above, the engaging pins 51a, 51b are formed in the side walls of the lamp M. The holes 6 formed in the side walls of the projecting plate portions 64a, 64b.
First, the small-diameter portion L is inserted into each of the small-diameter portions 6 and 67, thereby performing the self-aligning operation, which is the operation according to the present invention, and starts removing the mounting pins 60a and 60b from each other. 12 shows a state immediately after the sensor mounting members 53a and 53b have made a predetermined rotation with respect to the old lamp M, and shows a position indicated by a chain line in FIG.

This is also shown in a front view in FIG. 17, in which the lamp M is provided with mounting pins 60a,
The middle diameter portion F is securely attached to the circular openings 65a and 65b formed in the protruding plate portions 64a and 64b in a state of being tightly fitted to the protrusion 60b. The engagement pin attachment plates 50a and 50b fixed to the sensor attachment members 53a and 53b are shown to be directly above, and as described above, this position is a position indicated by a chain line in FIG. One of the lamps 54a, 54a is shielded from light by the outer horizontal arm portion n of 61a, 61b. In FIG. 16, the first lamp 54a is moved from the phototransistor 55a facing the first lamp 54a to the light shielding plate 61.
The light-shielded state is indicated by a and 61d. After that, the sensor mounting members 53a, 53b descend, and the horizontal distance between the engaging pins 51a, 51b and the protruding plate portions 64a, 64b formed on the side wall of the lamp M at this position. The gap is also specified.

FIG. 18 shows the sensor mounting members 53a, 53b, that is, the engagement pin mounting plate 50a,
FIG. 18 shows a situation where 50b is lowered by a predetermined distance.
, The position indicated by the dashed line is the same as the position indicated by the solid line in FIG. This is shown in FIG. 14 immediately before the engagement pin mounting plates 50a and 50b move in the direction in which they come close to each other, and is shown by a dashed line in FIG.

FIG. 19 shows [19]-[1] in FIG.
9] is a front view as seen in the line direction, but shows the engagement pin 5 reaching the height of the protruding plate portions 64a, 64b formed on the side wall of the lamp M;
1a and 51b have been lowered, and in this state holes 66 formed in the side walls of the protruding plate portions 64a and 64b,
67.

As shown in FIG. 19 (which corresponds to FIG. 14), the engagement pins 51a and 51b move in the direction in which they come close to each other and assume the position shown by the dashed line. That is, only the small diameter portions L of the engagement pins 51a and 51b are inserted into the holes 66 and 67. In this state, as described above, when the engagement pin mounting plates 50a, 50b are moved up by a predetermined distance, the lamp M is inserted into the insertion pin 60a within the range of large play between the small diameter portion L and the holes 66, 67. , 60b are smoothly removed from the circular openings 65a, 65b by a predetermined distance.

Thereafter, as shown in FIG.
1a and 51b are inserted into the holes 66 and 67, and the large-diameter portion J
Are tightly fitted, and thereafter, are further moved upward to be completely removed from the insertion pins 60a and 60b. Thereafter, it is rotated in the direction opposite to the direction of R 'shown in FIG. 11 to take the position shown in FIG. That is, it is arranged in the lamp attaching / detaching mechanism 20.
Thereafter, the driving vehicle 4 is driven to position and stop the replacement vehicle 5 on which the new lamp M is mounted, just before the mounting position by the cam plates 14 and 15 described above.

Next, a case where a new lamp M is mounted at a predetermined position will be described. In FIG. 1, the second exchange vehicle 6 includes a microswitch 13a, also shown in FIG.
13b, it is positioned and stopped by the cam plates 14, 15 provided on the first rail 2 corresponding to the predetermined position in the same manner as described above. As shown in FIG. 21, in the rotating plates 25a and 26b, a new lamp M is inserted into the engaging pins 51 of the pin mounting engaging plates 50a and 50b.
a and 51b, and takes a position shown by a solid line in the figure, but rotates by a predetermined angle around the rotation shaft 27 by driving the first motor 28 shown in FIG.
Take the position shown in FIG. FIG. 23 is a plan view of FIG. 23. At first, the above-mentioned predetermined angle is turned from the position shown by the solid line to take the position shown by the dashed line.
In FIG. 3, the position before the rotation is indicated by a solid line. In addition, in order to make the figure easy to understand, the center is largely shifted from the mounting position. Therefore, when the first lamp 54a attached to one sensor attachment member 53b is rotated by a predetermined angle, the first lamp 54a is shielded from light by the vertical arm protrusion p of one light shielding plate 61b, but is attached to the other sensor attachment member 53a. First lamp 54a '
(Add a dash (') to distinguish it from the 53b side)
Is shielded by the inner horizontal arm m of the light shielding plate 61a. Although it has been detected by this that the lamp has been rotated by the predetermined angle, it is shifted from the lamp mounting position by the distance a as shown in FIGS.

Therefore, the second lamp 54b is provided with the light shielding plate 61.
Although light is shielded on the b side, light is not shielded on the other light shielding plate 61a side, and it is detected that a center shift has occurred. The motor 49
a, 49b are rotated by the same angle. Therefore, the engagement pin mounting plates 50a and 50b are simultaneously moved to the left in FIG.
The light is blocked by the inner edges of the vertical arm protrusions p of 1a and 61b, thereby detecting that the center is determined, and the driving of the third motors 49a and 49b is stopped. Then the second
The motor 33 moves downward by a predetermined distance.

As shown in FIG. 24, mounting pins 60a,
The tip end H of the projection 60b is slightly extended from the projection plate 64 of the lamp M.
a, 64b are inserted into circular openings 65a, 65b. In this state, as shown in FIG. 25, the pin mounting engagement plates 50a and 50b are driven in a direction in which they are separated from each other. Although the engagement pins 51a and 51b are tightly fitted in the large diameter portion J, a part of the large diameter portion J, the tapered portion K, and a part of the small diameter portion L come out of the holes 66 and 67 as shown in the figure. As a result, the lamp M sequentially falls from the large-diameter portion J to the small-diameter portion L via the tapered portion K, so that the lamp M gradually falls naturally. At this time, the center of the mounting pins 60a and 60b has already been determined. Even if the mounting pins 60a and 60b are eccentric, only this small diameter portion H is circular.
a and 65b, the mounting pins 60a and 60b are accurately subjected to the self-centering action together with the natural fall.
Ramp M falls along the central axis of.

FIG. 29 shows such a state. When the engagement pins 51a, 51b reach the separated positions as shown in FIG. 29, the second motors 49a, 49b
Is stopped. Next, the third motor 33 is driven, and the pin mounting engagement plates 50a, 50b move downward in FIG. As a result, the lamp M also moves downward, but also at this time, the engagement pins 51a, 51b are loosely fitted into the holes 66, 67 formed in the side wall portions of the protruding plate portions 64a, 64b. , 60b, the ramp M moves down exactly along this central axis, and consequently the middle diameter F of the mounting pins 60a, 60b.
The circular openings 6 of the protruding plate portions 64a, 64b of the lamp M
5a, 65b are accurately aligned and fitted. Thereafter, the pin mounting engagement plates 50a, 50b are connected to the second motor 49a,
49b, it is moved to a further separated position, and FIG.
At 5, it reaches the position shown by the dashed line, reaches the position shown by the solid line in FIG. After this,
The first motor 28 rotates to rotate in a direction opposite to the direction R described above. Thus, the work of installing the new lamp M is completed.

In the above, the mounting method of the new lamp M has been described in particular with reference to FIGS.
This will be described in more detail with reference to other figures as follows. That is, a new lamp M is built in the second replacement vehicle 5, and this situation is shown in FIGS. 26 and 27. In the new lamp M, the engagement plates 50a and 50b are closest to each other. The position, that is, the engagement pins 51a and 51b are
The new lamp M is held tightly in the holes 66 and 67 in the side walls of the a and 64b. From this state, it is rotated by a predetermined angle around the rotation shaft 27 as described above. FIG. 26 shows a state immediately after the rotation, and corresponds to the position shown by the dashed line in FIG. Next, as shown in FIG. 28, the center is positioned so that both the first and second lamps 54a and 54b are shielded from light at the edges of the central protruding arms p of the light shielding plates 61a and 61b. That is, FIG. 23 and FIG.
As shown in FIG. 4, the insertion mounting pins 60a, 60
The centers of the circular openings 65a, 65b of the protruding plate portions 64a, 64b of the lamp M are separated from the axis of 0b. To compensate for this, the lamp M is moved from the position shown by the solid line to the position shown by the dashed line as shown in FIG. Thereby, the circular opening 65 opened in the protruding plate portions 64a, 64b.
a, 65b come directly above the axis of the mounting pins 60a, 60b. Thereafter, the engagement plates 50a and 50b are moved downward by a predetermined distance. At this time, as described above, the guide rails 52a and 52b and the guide members 81a and 81b are moved down a predetermined distance accurately by engagement. Therefore, the lamp M takes the lower position at the position shown by the one-dot chain line in FIG.
b are inserted into the circular openings 65a and 65b. That is,
FIG. 29 shows this situation. The large-diameter portions of the engaging pins 51a and 51b are closely fitted into the holes 66 and 67 while being moved in the direction of the separation and leaving the small-diameter portion L. In order to extract the lamp M from the tapered portion K, the lamp M is pulled out while sliding on the upper wall portions of the holes 66 and 67 when moving from the tapered portion K to the small diameter portion L, so that the lamp M falls naturally.

On the way, the small-diameter portions H of the mounting pins 60a, 60b form circular openings 65 formed in the protruding plate portions 64a, 64b.
a, 65b. FIG. 29 illustrates this situation. That is, as is apparent from FIG.
There is a predetermined degree of play between the small diameter portions L of the holes a and 51b and the holes 66 and 67, and there is play between the small diameter portions H of the insertion pins 60a and 60b and the circular openings 65a and 65b. Therefore, although the center is already positioned during the above-mentioned natural fall, if the center of the mounting pins 60a and 60b of the circular openings 65a and 65b is not accurately aligned, the complete alignment state is established at this time. Then, the small-diameter portion H is inserted through the circular openings 65a and 65b. So to speak, self-alignment is performed and inserted. After this, the engaging pin mounting plate 5
By lowering 0a, 50b by a predetermined distance, the lamp M is moved to the engagement pins 51a, 51b as shown in FIG.
Since it is in contact with the upper wall portion, it lowers following it, and the middle diameter portion F is closely fitted to the circular openings 65a and 65b, and the downward movement is stopped. Therefore, the new lamp M is accurately positioned and attached to the power supply device 12.
Of course, along with the above-described downward movement, the plug 63 formed on the bottom wall of the lamp M moves downward in line with the power supply port 12a formed at the center of the power supply device 12, and as shown in FIG. Combine. Therefore, the light source included in the lamp M emits light. From the state shown in FIG.
Ob rotates in the direction opposite to the direction of the arrow R 'shown in FIG.

As described above, as clearly shown in FIGS. 3 and 4, the cylinder pistons 100 a and 100 b and the front and rear along the rail 2 are provided on both sides of the vertical wall 2 a of the first rail 2. Cylinder pistons 101a and 101b having the same configuration are disposed opposite to each other, and the first and second exchange vehicles 4 and 5 are positioned at predetermined positions by the functions of the cam plates 14 and 15 and the micro switches 13a and 13b. At this stop position, the cylinder pistons 100a, 100b and 101a, 101b
Compressed air is supplied from a compressed air source (not shown), and its piston is made to protrude toward the vertical wall 2a of the rail 2,
A rod fixed to a built-in piston presses the vertical arm 2 a of the rail 2. Therefore, the driving vehicle 3 has a built-in motor, and when this driving is stopped, the motor brake is applied, and the brake is applied in the extending direction of the rail 2 and stops at that position. The lamp attachment / detachment mechanism 20 incorporates various members in addition to the first, second, and third motors, and the center of gravity is deviated rightward in FIG. As a result, the lamp attaching / detaching mechanism 20 receives the rotational moment and turns around the rollers 16 and 17 as a fulcrum. Since the horizontal arm portion of the second rail 3 is squeezed by the roller 17, a slight rotation is prevented, but this is still insufficient, so the cylinder pistons 100a, 100b
The rotation is completely prevented by clamping the vertical arm portion 2a of the first rail 2 with the first and second rails 101a and 101b as clearly shown in FIGS. The light shielding plates 61a, 61b and the sensors 54a, 54b, 55a,
5b is reliably detected and detected.
a, 51b, protruding plate portions 64a, 6 of the lamp M of the small diameter portion L.
4b and the mounting pins 60a, 60b
, And circular openings 65a of the protruding plate portions 64a, 64b,
65b can be reliably performed. Of course, depending on the arrangement of the various members in the lamp attaching / detaching mechanism 20, or depending on the squeezing pressure of the roller 17 squeezing the horizontal arm portion of the second rail 3 and the position of the second rail 3, the cylinder piston 100a, 100b and 101a, 101b can be omitted.

As described above, in the embodiment of the present invention, the cylinder pistons 100a, 100b, 101a and 101b are disposed on both sides of the vertical wall 2a of the rail 2, and these rods R are used for the vertical wall 2a. , A rotating force is generated around the rotating shaft 27 by the weight of the various members disposed in the frame 20, thereby preventing the power from being biased. 31 will be further described with reference to FIGS. 31 to 34. FIG. 32 corresponds to FIG. 5 described above, and shows a case where the lamp M attached to a predetermined position is removed, and FIG. Although it is a side view, as clearly shown in FIG. 32, the roller 16 is largely unevenly distributed with respect to the rail 2 (shown exaggeratedly for easy understanding of the effect of the present invention).
In FIG. 32, the upper side of the pair of rollers 16 and 16 on the left side is displaced from the upper edge of the rail 2, and the pair of right and left rollers 16 and 16 has the lower roller 1 in the figure.
6 is also separated from the lower edge. Due to such uneven distribution, as shown in FIG. 31 (this corresponds to FIG. 16 described above), the relative position of the rotating shaft 27 with respect to the lamp mounting position is naturally shifted. As described above, the U-shaped mounting members 53a and 53b
, But the relative position to the lamp M attached at a predetermined position is shifted, so that the old lamp M is to be removed. However, the sensor attaching members 53a and 53b are shown in FIG. Take the position as shown,
Although the light receiving element 55a moves downward from this point, the light receiving element 55a is no longer shielded from light by the horizontal arm portions of the light shielding plates 61a and 61b for detecting that the light receiving element 55a has rotated by a predetermined angle before that. As a result, in order to rotate by a predetermined angle or more, it is further rotated from the position shown by the driving of the first drive motor, and as a result, a state where the light is shielded by the outer horizontal arm portions of the light shielding plates 61a and 61b is taken. Even if the centering position is lowered by driving the second motor as described above, the engagement plate 50
a, 51b, which are attached to 50b
a, 51b, 51b are the protruding plate portions 64a, 64 of the lamp M.
b, the mounting pins 60a, 60b do not align with the round hole through holes 65a, 65b, and the engaging pins 51a, 5b do not align with the centering position.
One of the small diameter portions L of 1a, 51b, 51b is a hole 66 or 6
7, the small-diameter portion L is not inserted into the holes 66 and 67 even if the centering is performed and the second motor is further moved in the direction of close proximity. The lamp M cannot be removed.

Next, FIGS. 33 and 34 show a case where a new lamp M is mounted at a predetermined position. As shown in FIG. In the case where the roller 16 rotates around by a predetermined angle, the above-mentioned uneven distribution of the center of gravity further appears remarkably, and as shown in FIG. 34, the rollers 16, 16 are biased in the opposite direction to the case of FIG. A roller 16 in contact with the wall 2a,
16 is in contact with a stronger pressing force, and even if the sensor mounting members 53a and 53b are rotated in this state,
Similarly to the above, none of the light receiving elements 55a and 55b attached to the upper and lower horizontal arms of the sensor attachment members 53a and 53b are shielded from light, and therefore cannot take the centering position, as shown in FIG. A through-hole 6 formed in the projecting wall portions 64a, 64b of the new lamp M;
The mounting pins 60a, 60b cannot be inserted through 5a, 65b, and the new lamp M may be broken in some cases. 31 and 33, the mounting pins 60a and 60b and the sensor mounting members 53a and
3b clearly shows the relative displacement with respect to 3b.

Although the above-mentioned troubles or accidents occur, according to the embodiment of the present invention, since the cylinder pistons 100a, 100b, 101a, and 101b are provided, the ramp M can be accurately formed as described above. Positioning with respect to the mounting pins 60a and 60b and fitting into these can also be performed accurately. Or light shielding plate 61
By increasing the lengths and widths of the horizontal arm portions and the central protruding portions of the a and 61b, it is possible to absorb some deviation, but the engagement pins 51a, 51a, 51b, 5b
In order to insert the holes 1 and 2b into the holes 66 and 67, the diameters of these holes must be further increased.
It may not be possible to obtain accurate self-alignment for 0a and 60b.

Although the embodiments of the present invention have been described above, it is needless to say that the present invention is not limited to the embodiments, and various modifications can be made based on the technical concept of the present invention.

For example, in the above embodiment, the driving vehicle 4
Has been described in the case of traveling in the direction of arrow B, but the lamp M can be replaced similarly in the case of traveling in the direction opposite to arrow B in order to push the exchange vehicles 5 and 6.

In the above embodiment, the mounting pins 6
T-shaped light shielding plates 61a and 61b are attached to the first and second replacement vehicles 5a and 60b to detect the rotation angle of the lamp M and the deviation from the center. , 6 can be dispensed with when accurately positioning and stopping at a predetermined position where the lamp is attached. That is, the U-shaped sensor mounting members 53a, 53
3b, the engagement pins 51a, 51b and the lamp M
Holes 66 formed in the side wall portions of the protruding plate portions 64a, 64b,
67 has a large degree of play, and the mounting pins 60a, 60
b and circular openings 65 formed in the protruding plate portions 64a and 64b.
If there is a large degree of play between the mounting pins 60a and 65b, the movement of the engagement pin mounting plates 50a and 50b as described above ensures that the mounting pins 60a and 60b are aligned with the circular openings 65a and 65b.
It is clear that b can be fitted. The same applies to removal.

In the above embodiment, the lamps 54a, 54a are provided on the upper and lower horizontal arms of the sensor mounting members 53a, 53b.
Although the phototransistor 54b and the phototransistors 55a and 55b are attached, a laser emitter and a laser sensor may be provided instead.

In the above embodiment, the mounting pins 60
The medium-diameter portion F is tightly fitted into the circular openings 65a and 65b, and this claim defines the medium-diameter portion F as a large-diameter portion.

[0052]

As described above, according to the article attachment / detachment apparatus of the present invention, even if the article is attached to a predetermined position in any position and in any position, Automatic, secure and accurate mounting without damage to the article. Or it can be removed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an entire lamp attaching / detaching device according to an embodiment of the present invention.

FIG. 2 is a side view as seen from the direction of arrow A in FIG.

FIG. 3 is a front view of the same.

FIG. 4 is a side view taken along the line [4]-[4] in FIG.

FIG. 5 is a sectional view taken along line [5]-[5] in FIG.

FIG. 6 is a sectional view taken along line [6]-[6] in FIG.

7 is a sectional view taken along the line [7]-[7] in FIG.

8 is a sectional view taken along the line [8]-[8] in FIG.

9 is a cross-sectional view taken along the line [9]-[9] in FIG.

FIG. 10 is a sectional view taken along the line [10]-[10] in FIG.

FIG. 11 is an enlarged perspective view showing an operation of a main part in the embodiment.

FIG. 12 is an enlarged perspective view showing the same operation.

FIG. 13 is an enlarged plan view showing the same operation.

FIG. 14 is an enlarged plan view showing the same operation.

FIG. 15 is an enlarged plan view showing the same operation.

FIG. 16 is a front view of the attaching / detaching device showing the same operation.

17 is a sectional view taken along the line [17]-[17] in FIG.

FIG. 18 is a front view of the attaching / detaching device showing the same operation.

19 is a sectional view taken along the line [19]-[19] in FIG.

FIG. 20 is a partially broken front view of the attachment / detachment device for further explaining the same operation.

FIG. 21 is a plan view of a detachable device when a new lamp is attached.

FIG. 22 is a perspective view showing a state in which a new lamp is being attached to a predetermined position.

FIG. 23: First for mounting a new lamp in place
It is an enlarged plan view of a stage.

FIG. 24 is a plan view of the second stage.

FIG. 25 is a plan view of the third stage.

FIG. 26 is a partially cutaway front view of the attaching / detaching device in the first stage for attaching a new lamp.

FIG. 27 is a sectional view taken along the line [27]-[27] in FIG. 26;

FIG. 28 is a side view similar to FIG. 27 in the second stage.

FIG. 29 is a partial cutaway side view similar to FIG. 28 at a third stage of the operation.

FIG. 30 is a side view showing a state in which a new lamp has been mounted at a predetermined position.

FIG. 31 shows a cylinder piston 1 in the embodiment.
It is a figure which shows the malfunction which arises when 00a, 100b and 101a, 101b are not provided, and is a front view of a lamp replacement device.

FIG. 32 is a front view of the same.

FIG. 33 is a partially cutaway front view of the article attachment / detachment device showing a case where a new lamp is attached to a predetermined position when the cylinder pistons 100a, 100b and 101a, 101b are not provided.

FIG. 34 is a front view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lamp attaching / detaching apparatus 2 1st rail 4 Driving vehicle 5 1st replacement vehicle 6 2nd replacement vehicle 25a Rotating plate 25b Rotating plate 26a Bearing 26b Bearing 27 Rotating shaft 28 First motor 33 Second motor 37 Drive shaft 38 screw rod 39 movable frame 45a guide rod 45b guide rod 46a feed screw 46b feed screw 49a third motor 49b third motor 50a pin mounting engaging plate 50b pin mounting engaging plate 53a sensor mounting member 53b sensor mounting member 54a lamp 54b lamp 55a Phototransistor 55b Phototransistor 60a Mounting pin 60b Mounting pin 100a Cylinder piston 100b Cylinder piston 101a Cylinder piston 101b Cylinder piston M Lamp R Rod

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Mitsuo Tsume

Claims (13)

[Claims] 1. An article having a pair of circular openings formed at predetermined intervals and engaging holes formed on both side walls is erected at a predetermined mounting position at the same interval as the predetermined interval. When the article is removed from the attachment position, a pair of engagement pins of an article attachment / detachment mechanism is engaged with the engagement hole, and the insertion pin is inserted into the circular opening. The article attaching / detaching mechanism is configured to move the mating pin upward to remove the article from the insertion pin, and the article attaching / detaching mechanism is suspended on a rail and movable along the rail. A pair of pressing members movable in a direction approaching and moving away from each other so as to squeeze the rail from both sides, and when attaching and detaching the article, the pair of pushing members are stopped when the article attaching / detaching mechanism is stopped. Depending on the member, An article attachment / detachment device characterized in that the rail is pressed. 2. The insertion pin and the engagement pin each include a small-diameter portion, a tapered portion, and a large-diameter portion from the tip, and the large-diameter portion has a diameter closely fitted to the circular opening and the engagement hole, respectively. When the article is attached to the attachment position, the engagement pin is closely fitted to the engagement hole, the article is brought directly above the insertion pin, and the circular opening is inserted into the insertion pin. Move down to the position where the small diameter part is to be inserted,
Next, by pulling out the engagement pin from the engagement hole to the small diameter portion, the article is allowed to fall naturally, and then the engagement pin is further moved down by a predetermined distance so that the insertion pin is tightly closed to the circular opening. After that, the entire engagement pin is pulled out from the engagement hole, and when the article is removed from the mounting position, only the small diameter portion of the engagement pin is inserted into the engagement hole. 2. The article according to claim 1, wherein said article is moved upward by a predetermined distance, said engaging pin is inserted into said engaging hole so as to fit tightly, and said article is further moved upward to pull out said insertion pin from said circular opening. An article attachment / detachment apparatus according to claim 1. 3. A small-diameter portion of the engagement pin is provided on each of the insertion pins by providing a position detection member and a sensor for detecting the position detection member on the engagement pin or a member for attaching the engagement pin. 3. The position of an engaging pin for inserting only the engaging hole into the engaging hole, or extracting the engaging pin from the engaging hole while leaving only the small diameter portion.
An article attachment / detachment apparatus according to claim 1. 4. The apparatus according to claim 3, wherein the position detecting member is a light shielding plate, and the sensor is a pair of a light emitting element and a light receiving element. 5. The position detecting member is a T-shaped light-shielding plate, and the sensor includes a first light-emitting element, a second light-emitting element, and a second light-emitting element arranged in a direction substantially parallel to a direction in which a central protruding arm portion of the light-shielding plate extends. First and second light receiving elements opposed to the light receiving element, and the horizontal arm portion of the light shielding plate shields light from the first light emitting element, thereby detecting that the article has been brought directly above the mounting position. Then, the light from the second light emitting element is shielded by the centrally protruding arm of the light shielding plate, thereby detecting the insertion position of the small diameter portion of the engagement pin into the engagement hole and the extraction position to the small diameter portion. 3. The article attaching / detaching apparatus according to claim 2, wherein 6. A pair of projecting plate portions are formed on both sides of the article, the circular opening is formed in the projecting plate portion, and the engaging hole is formed in a side wall portion of the projecting plate portion. Item 3. The article attachment / detachment device according to Item 2. 7. A first driving means for rotating the engagement pin to a position perpendicular to the insertion pin,
Second moving the engaging pin up and down in parallel with the insertion pin;
The article attaching / detaching apparatus according to any one of claims 2 to 6, further comprising a driving means and a third driving means for driving the engaging pin in a direction of being inserted into and withdrawn from the engaging hole. 8. The article attachment / detachment device according to claim 2, wherein the article attachment / detachment mechanism includes a position detection unit that detects the attachment position. 9. A mechanism for preventing the insertion pin from coming out of the circular opening of the article in the engagement hole, and releasing the mechanism when the engagement pin is inserted into the engagement hole. The article attaching / detaching apparatus according to claim 6. 10. A pair of attachment portions formed on an article is engaged with a pair of attachment members provided at predetermined positions,
By attaching the article, disengaging the pair of attachment members from the attached portion, the article is detached from the predetermined position, suspended on a rail, and movable along the rail. And a first and a second light emitting element attached to a pair of U-shaped sensor mounting members and one horizontal arm of the sensor mounting members at a predetermined distance in a first direction. A first and a second light receiving element attached to the other horizontal arm portion facing the first and second light emitting elements, and an engagement member attached to the vertical arm portion of the sensor attachment member, respectively. A T-shaped light-shielding plate attached to each of the pair of attachment members, a support shaft rotatably supporting the engagement member, and a pivot for rotating the engagement member around the support shaft. 1 drive unit and a second direction intersecting the first direction And a second drive unit for moving the engagement member. The first drive unit controls the engagement member so that a light beam from the first light emitting element is shielded by the light shielding plate. Then, the engaging member is moved by the second driving unit so that the light from the second light emitting element is shielded by the light shielding plate.
Wherein the rail is moved relative to the pair of mounting members, and the rail is pressed from both sides by a pair of pressing members during the positioning. 11. A pair of mounting portions formed on an article is engaged with a pair of mounting members provided at predetermined positions,
By attaching the article, disengaging the pair of attachment members from the attached portion, the article is detached from the predetermined position, suspended on a rail, and movable along the rail. In the article attaching / detaching device, a T-shaped shielding plate is fixed to the pair of mounting members, and the first and second detection elements and the first and second detection elements are respectively formed on a pair of U-shaped upper and lower horizontal arms. A detection member to which the second element to be detected is fixed;
A detection / engagement device having engagement means fixed to a vertical arm portion of the detection member; a first drive device for rotating the detection / engagement device around a predetermined support shaft; A second drive device for driving the engagement device in a direction approaching and moving away from the device, and the detection / engagement device for engaging and disengaging the attachment member and the attached portion of the article. An article transfer device including a third drive device to be driven is provided, and when removing an old article at the predetermined position, the pair of detection / engagement devices are far apart by the second drive device. Located at a first position, and by the first driving device,
When the detection / engaging device is rotated around the support shaft and the first detection element is shielded from the first element to be detected by the outer horizontal arm portion of the shield plate, the first drive is performed. The device is stopped, and then the engagement means of the detection / engagement device is moved by the third drive device to a position facing the engaged portion of the article, and then both the second detection elements are The second driving device is driven so as to be shielded from the second element to be detected by the projecting arm portion of the shielding plate, and the engaging means is positioned at the predetermined position. The two driving devices simultaneously drive the engaging means in mutually approaching directions to engage the engaged portions of the article, and then drive the third driving device to drive the pair of attached portions of the article and the The engagement with the pair of mounting members is released, and the first drive When the detection / engagement device is rotated by a predetermined angle around the support shaft by driving the device, the article is disengaged, and when attaching a new article to the predetermined position, the engagement means is provided. The first drive device rotates the detection / engagement device around the support shaft by engaging the engaged portion of the article.
When the detection element is shielded from the first element to be detected facing by the inner horizontal arm portion of the shielding plate, the first driving device is stopped, and then both the second detection elements are moved by the second driving device. The detecting / engaging device is driven to position the new article at the predetermined position so as to be shielded from the second element to be detected by the projecting arm portion of the shielding plate, and then the A third drive unit engages the mounted portion of the article with the pair of mounting members,
Next, the engaging means is simultaneously driven by the second driving device in a direction away from each other to disengage from the engaged portion of the article, and then the engaging device is driven by the first driving device to support the engaging means. By rotating the article around the axis by a predetermined angle, the attachment of the article is completed, and at the time of removal and attachment of the article, the rail is pressed from both sides by a pair of pressing members. Device for attaching and detaching articles. 12. The pair of mounting members are upright pins erected in parallel to the predetermined position, and the pair of mounted portions are through-holes of protruding portions formed at both end portions of the article. The article according to claim 11, wherein the engaging means is a horizontal pin provided to be perpendicular to the upright pin, and the engaged portion of the article is a hole formed in a side wall of the protrusion. Detachable device. 13. The article attachment / detachment device according to claim 11, wherein the first and second detection elements are one of a light emitting element and a light receiving element, and the first and second detection elements are the other.